Design Of Snake-like Robot Based On The Quadrilateral Mechanism

With the continuous development and progress of science and technology, robot technology is also rapid development. The various types of robot is widely applied in many fields. Contemporary robot is not only just a simple help human accomplish heavy and repetitive work, but also more independent operation is applied to the unknown environment. Due to the traditional robot is very difficult to adapt to changeful environment, more and more research on bionic robot. Snake-like robot is an important branch of bionic, because of its movement is flexible and applied to many difference environment make the research of snake-like robot once became a hot issue in domestic and foreign scholars research and obtained a series of research results.Firstly, this dissertation studied the biological structure of the snake including biological snake skeletal system composition, main motor organ and part of the connection between the shape of the bone and combined with biological snake body structure analysis of the typical movements and its mechanism.On the basis of fully realization of biological snake skeleton structure,reference biological snake skeleton connection mode and using the module design of snake-like robot based on the quadrilateral mechanism for the structure design. Designed a kind of biological modelling snake frame shell made the snake robot movement is more stable. The key to design a kind of realization snake-like robot luffing quadrilateral mechanism.Secondly, the typical movement pattern of the snake-like robot based on the quadrilateral mechanism were analyzed. With Serpenoid curve plane motion were snake-like robot trajectory planning, simulation using MATLAB its flat trajectory, and find the angle between the corresponding state of motion of adjacent modules.Finally, the quadrilateral mechanism designed to make use of ADAMS simulation movement, the pitch range of the individual modules, the two kinds of snake-like robot is looked up scheme based on quadrilateral mechanism was calculated and compared, and then introduces in detail the obstacle negotiation process.